A Wind Turbine Benchmark Model for a Fault Detection and Isolation Competition Silvio Simani Department of Engineering, University of Ferrara Via Saragat 1E 44123 Ferrara (FE), ITALY Ph./Fax:+390532974844 Email: silvio.simani simani@unife.it.. URL: www.silviosimani.it (available at http://www.silviosimani silviosimani.it/talks.html)
Energy and Related Issues Control systems have high influence on the total cost of energy Focus on supervision and control solutions The design of suitable strategies is enhanced by high-fidelity benchmark models and prototypes Solutions characterised by craftsmanship, quality, reliability,, and proven technology 30/05/2013 2013 MathWorks Research Faculty Summit 2
Energy, Cost, Fault Tolerance (FDI) (FTC) 30/05/2013 2013 MathWorks Research Faculty Summit 3
Safety-Critical Systems Model-based FDI and FTC are proposed as new approaches for sustainable (keyword,, high degree of reliability and availability) ) wind turbine control Keypoints: loads (storms, ), failures and faults NOTE: FTC was firstly developed as aerospace topic, focused mainly on NASA projects, motivated by advanced aircraft that could be reconfigured by control through a high degree of flight surface redundancy 30/05/2013 2013 MathWorks Research Faculty Summit 4
Motivations Harsh environment - system well protected Offshore wind turbines are stand-alone alone power plants in inadequate service and maintenance attendance Safety-related control systems to manage incidents from lightning, storms, gusts and other periodic incidents, as s well as faults affecting the energy drive train (system/components) and the electricity production Production maintained even in case of failures (abrupt breakdown) and incipient faults (e.g. slowly developing and hard to detect malfunctions their effects can be accommodated by FDI+FTC) 30/05/2013 2013 MathWorks Research Faculty Summit 5
Example A 5 MW wind turbine stopped will loose 24 MWh per day in production if 40% wind capacity is assumed Difficult accessibility - it might take days before a fault is cleared Operation & Mainenance About $1.3 million to $2.2 million per MW capacity installed (2012) Cost of energy (20-35%) Production costs from $75/MWh to $97/MWh (2010) Advanced FDI and FTC included in the control system provide information on the fault,, thus allowing for correct and faster repair if required, and/or continued energy generation eventually at lower level until maintenance service 30/05/2013 2013 MathWorks Research Faculty Summit 6
General FDI/FTC Structures (FTC) (FDI) PFTC: Robust fixed structure controller No fault information provided AFTC: Real-time controller reconfiguration Fault reconstruction by FDI maintenance enhanced 30/05/2013 2013 MathWorks Research Faculty Summit 7
Fault General Fault Types Abrupt Intermittent Incipient Abrupt fault: breakdown due to e.g. weather conditions PFTC: Robust fixed structure controller No fault information provided Incipient fault: e.g. ageing, slowly developing AFTC: Real-time controller reconfiguration malfunctions (system/components) Fault identification Intermittent fault: e.g. sensor bias/offset, disconnections Time 30/05/2013 2013 MathWorks Research Faculty Summit 8
International Competition kk-electronic (Denmark) together with MathWorks launched a number of benchmark models for fault detection and accommodation, which allows both industrial and academic researchers to find the best schemes to handle different faults Based on these models a series of competitions and challenges have been proposed Simple Wind Turbine FDI/FTC benchmark model Advanced WT FDI / FTC benchmark model Wind farm FDI/FTC benchmark model Benchmarks developed by kk-electronic in Matlab and Simulink environments Extensible and easily integrated with other codes (.dll dll, s- functions) http://www.kk kk-electronic.com/wind-turbine-control/competition-on-fault-detection. detection.aspx 30/05/2013 2013 MathWorks Research Faculty Summit 9
Competition Focus Wind turbine benchmark models proposed by kk-electronic in order to provide generic platforms for design and test different FDI and FTC solutions The target group was researchers in the FDI and FTC community Matlab enhances the application and comparison of these methods on wind turbine application Since the model is generic it can be provided to the public 30/05/2013 2013 MathWorks Research Faculty Summit 10
Modelling Requirements Coupled aero-hydro hydroservo-elastic elastic interaction Models originate from different disciplines Wind-Inflow Waves Aerodynamics Hydrodynamics Structural dynamics Control systems Multi-Physics Simulation Tools 30/05/2013 2013 MathWorks Research Faculty Summit 11
NREL Design Codes National Renewable Energy Laboratory http://wind.nrel.gov/designcodes FAST (Fatigue, Aerodynamics, Structures, and Turbulence) aeroelasticity TurbSim turbulent inflow ADAMS (Automatic Dynamic Analysis of Mechanical Systems) NASTRAN flexible blade model Used heavily in industry, academia and other governmental research organizations Important for control systems design 30/05/2013 2013 MathWorks Research Faculty Summit 12
Design Codes Coupled Aero-Hydro Hydro-Servo-Elastic Simulation 30/05/2013 2013 MathWorks Research Faculty Summit 13
Wind Turbine Model Stochastic wind model including tower shadow and wind shear Odgaard,, P.F. ; Stoustrup,, J. ; Kinnaert, M. Fault Control of Wind Turbines: A Benchmark Model Actuator models Transactions on Zero-mean Gaussian distributed measurement noise, M. Fault-Tolerant Benchmark Model. IEEE Transactions on Control Systems Technology, 2013 30/05/2013 2013 MathWorks Research Faculty Summit 14
Sensor Models 30/05/2013 2013 MathWorks Research Faculty Summit 15
Actuator Models Pitch actuator model Generator and converter model Generator power 30/05/2013 2013 MathWorks Research Faculty Summit 16
Simulink-based Scheme (Active FTC/FDIR) 30/05/2013 2013 MathWorks Research Faculty Summit 17
Turbine Model & Controller Routines for pitch, torque, & yaw controllers Dynamic link library (DLL): DLL interface routines included with FAST archive Can be Fortran, C++, etc. MATLAB/Simulink: FAST implemented as S- S Function block Controls implemented in block-diagram form 30/05/2013 2013 MathWorks Research Faculty Summit 18
Reference Controller Approximates the configuration of an existing control system Used in the design of the fault diagnosis algorithms 30/05/2013 2013 MathWorks Research Faculty Summit 19
Fault Scenario Odgaard,, P.F. ; Stoustrup,, J. ; Kinnaert,, M. Fault-Tolerant Control of Wind Turbines: A Benchmark Model. IEEE Transactions on Control Systems Technology, 2013 30/05/2013 2013 MathWorks Research Faculty Summit 20
Fault Scenario (cont d) Odgaard,, P.F. ; Stoustrup,, J. ; Kinnaert,, M. Fault-Tolerant Control of Wind Turbines: A Benchmark Model. IEEE Transactions on Control Systems Technology, 2013 30/05/2013 2013 MathWorks Research Faculty Summit 21
FDI and FTC Solutions A competition in two parts was launch on the WT benchmark model (2009) Part I on FDI: solutions were presented in two invited sessions at IFAC World Congress,, Milan, Italy, 2011 Part II on FTC: solutions were presented in two and a half invited sessions at IFAC Safeprocess,, Mexico City, Mexico, 2012 Three prizes sponsored by kk-electronic a/s and Mathworks http://www.kk kk-electronic.com/wind-turbine-control/competition-on-fault-detection. detection.aspx 30/05/2013 2013 MathWorks Research Faculty Summit 22
Fault Accommodation http://www.kk kk-electronic.com/wind-turbine-control/competition-on-fault-detection. detection.aspx 30/05/2013 2013 MathWorks Research Faculty Summit 23
Active and Passive FTC AFTC PFTC FDI Active FTC Dependent on fault diagnosis Reconfigures according faults Passive FTC Independent of fault diagnosis Robust w.r.t. faults 30/05/2013 2013 MathWorks Research Faculty Summit 24
Conclusion Current state-of of-the-art design tools Originate in separate disciplines Classical modelling tools Good for turbines that are operating below rated wind speed Structurally stiff Very little yaw Low turbulence FDI/FTC Next generation turbines Larger and more flexible More accurate models Closer coupling Advanced control schemes recent challenges 30/05/2013 2013 MathWorks Research Faculty Summit 25
Recent Challenges Original benchmark model is combined with NREL s FAST with a more detailed aerodynamic and structural model Contributions were submitted as invited session at ACC 2013 (June 17 19, 19, Washington, DC) A benchmark model for FDI and FTC of wind turbines on a wind farm level have been proposed, and a new competition in two parts FDI and FTC have been launched and running FDI solutions under evaluation for the next CDC 2013 (December 10-13, 13, Florence, Italy) Prizes sponsored by MathWorks and kk-electronic 30/05/2013 2013 MathWorks Research Faculty Summit 26
Open Research Issues Wind Farm FDI/FTC Road wind turbulence Floating Wind Turbine Control 30/05/2013 2013 MathWorks Research Faculty Summit 27